EP2101156A2 - Procédé et dispositif destinés à la surveillance de systèmes de réglage de châssis - Google Patents

Procédé et dispositif destinés à la surveillance de systèmes de réglage de châssis Download PDF

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Publication number
EP2101156A2
EP2101156A2 EP09151491A EP09151491A EP2101156A2 EP 2101156 A2 EP2101156 A2 EP 2101156A2 EP 09151491 A EP09151491 A EP 09151491A EP 09151491 A EP09151491 A EP 09151491A EP 2101156 A2 EP2101156 A2 EP 2101156A2
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EP
European Patent Office
Prior art keywords
sensor
frequency
wheel
radeigenfrequenz
frequency spectrum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09151491A
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German (de)
English (en)
Other versions
EP2101156B1 (fr
EP2101156A3 (fr
Inventor
Wolfgang Schmitt
Ralph Tepe
Holger Behrends
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental AG
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Publication date
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Publication of EP2101156A2 publication Critical patent/EP2101156A2/fr
Publication of EP2101156A3 publication Critical patent/EP2101156A3/fr
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Publication of EP2101156B1 publication Critical patent/EP2101156B1/fr
Not-in-force legal-status Critical Current
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0185—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method for failure detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/08—Failure or malfunction detecting means

Definitions

  • the invention relates to a method and a device for monitoring suspension control systems, for example of road vehicles, for detecting defects of sensors arranged on vehicle wheels or wheel carriers or components associated with these sensors and for their attachment.
  • Chassis control systems usually require a sensor system in which at least one sensor is connected to a wheel carrier to detect actual conditions and a consequent adjustment of a chassis or individual chassis components.
  • a damping control for example, a wheel acceleration is measured with an acceleration sensor.
  • Level control systems as used in motor vehicles, however, require a sensor that measures the height of the vehicle body above the roadway or relative to the wheel carrier.
  • sensor systems are already established which measure the vertical movements of the wheels in relation to the structure. These usually have attachment points on the vehicle body and on the wheel carriers or on moving with these components during operation.
  • the DE 100 20 521 B4 discloses a method of railway vehicle technology for monitoring the vibration behavior of bogies on cars of trains.
  • a bogie running a number of acceleration sensors for receiving vibrations, preferably in all three spatial directions, as they are excited in driving, arranged.
  • the output signals supplied by the acceleration transducers are subjected to a frequency analysis, for example a fast Fourier transformation, in a signal acquisition and evaluation unit and compared with reference values.
  • a frequency analysis for example a fast Fourier transformation
  • metrologically determined intrinsic vibration characteristics are stored in a memory for the vehicle components to be considered.
  • FIG. 12 shows a tire and suspension monitoring device that can detect tire imbalances, tread wear, and shock damage based on an analysis of harmonics of acceleration sensor signals and comparisons with reference values.
  • a suspension system with a plurality of pressure and acceleration sensors is known in which a failure of a damper is detected by a frequency comparison.
  • the invention has for its object to provide a method and apparatus for monitoring suspension control systems that allow reliable detection of sensor defects, in particular of mechanical defects, to sensors that measure the movement of a wheel or a wheel carrier.
  • the invention is based on the finding that a measurement of a sensor attached to a wheel or wheel carrier, which measures vertical wheel or wheel carrier movements or distance changes relative to a vehicle body during driving, contains a characteristic natural vibration behavior of the system under consideration, as long as the sensor is intended for use with the sensor Motion of the wheel is coupled. In the event of a disturbance of the force flow through the sensor, these natural vibration frequencies in the sensor signal clearly change or completely disappear, from which an evaluation of the sensor signal for a mechanical sensor defect can be concluded.
  • the stated object is also achieved by a device for carrying out the method.
  • the invention is further based on a device for monitoring chassis control systems, for example road vehicles, for detecting defects of sensors arranged on vehicle wheels or wheel carriers or components associated with these sensors and for their attachment.
  • a device for monitoring chassis control systems for example road vehicles, for detecting defects of sensors arranged on vehicle wheels or wheel carriers or components associated with these sensors and for their attachment.
  • means are provided for reading and storing sensor signals in preselected time windows, for performing frequency domain transformations of sensor signals, for analyzing transformed frequency spectra in the range of wheel natural frequencies and for reporting sensor defects, and for initiating system reactions to detected sensor defects.
  • the inventive method also works in the above-described situation, in which the sensor despite power interruption indicates signal changes, fail in the conventional defect detection method, since it uses a characteristic property - the natural frequency - of the wheel system.
  • the sensor output signal contains the wheel natural frequency, the mechanical connection to the wheel must be intact. It is assumed that the sensor and the signal-transmitting measuring channel has a sufficient measuring bandwidth, which exceeds the Radeigenfrequenz to be evaluated.
  • the operational readiness of level and damping regulations is monitored while driving with respect to the mechanical connection between the wheel, wheel and sensor, thereby increasing the reliability of such control systems and the driving safety of a vehicle equipped with it.
  • the system acting on the wheel or wheel sensor system of wheel tire wheel carrier on the one hand and spring damper on the other hand can be regarded as a vertically oriented, damped spring-mass oscillator.
  • a sensor that is to measure the movement or the distance of the wheel relative to the vehicle body thus inevitably measures these vibrations of the wheel. Since the natural frequency of the vehicle body, typically about 1 Hz, is significantly lower than that of the wheel, typically 10 Hz to 25 Hz, the vehicle body appears quasi resting relative to the wheel.
  • a transformation preferably a Fast Fourier Transformation (FFT)
  • FFT Fast Fourier Transformation
  • the sensor output signal may include the natural frequency of the vehicle body.
  • this is on the order of 1 Hz, it is clearly distinguishable from the higher Radeigenfrequenzen over which the sensor defect is identifiable distinguishable. For simplicity, preferably only the relevant vertical component of the movement of the system is considered.
  • the quality and accuracy of the frequency domain transformation is the higher, the more samples are analyzed in the considered time window and the larger this time window.
  • the analysis is expediently adapted to the installed computing power and computer memory size such that, on the one hand, the most accurate possible analysis takes place and, on the other hand, the amount of time required is limited.
  • the Fast Fourier Transformation has proven to be advantageous for this, since it permits faster calculation of the spectrum compared with comparable transformation algorithms and manages with a relatively small amount of data to be processed.
  • the analysis of the frequency spectrum can be done in different ways:
  • the frequency spectrum is checked in a fixed frequency interval for the presence of one or more spectral lines, which are generated by a wheel movement.
  • it can be checked whether individual spectral lines stand out from a noise signal by a defined amount or amount. If the spectral component at which the natural wheel frequency is to be expected disappears from the spectrum of the sensor output signal or drops to a noise level, it is concluded that there is a mechanical defect. This defect then affects either the sensor, its attachment or its parts which transmit the movement of the wheel to the sensor.
  • a movement-transmitting part is, for example, in conventional level control systems with height sensors between the wheel and vehicle body arranged coupling linkage.
  • the amplitude of an eigenfrequency-relevant spectral line of the frequency spectrum at a given fixed frequency can be compared to a limit value.
  • This check is particularly sensitive to shifts in the natural wheel frequency.
  • a spectral power density can be determined and compared with a limit value. This design allows a particularly high stability of the process in the presence of multiple Radeigenfrequenzen, as they occur in complex damped spring-mass systems.
  • the transformed frequency spectrum is logarithmized before the analysis.
  • at least intervalwise approximately linear curves can result from simple or double logarithms, as a result of which the evaluation, in particular the limit value comparison, is simplified.
  • a so-called good-good test in which a new test takes place after the detection of a mechanical sensor defect.
  • a system reset can be carried out, for example.
  • a particularly high level of safety with regard to production and material-specific tolerances can be achieved by firstly searching for the exact position of the natural frequencies in a vehicle-specific manner, for example in a teach-in process, and then storing the determined reference values in the electronic memory.
  • natural frequencies which are generated by resetting spring means arranged on sensors or sensor parts, are taken into account in the sensor defect detection.
  • the wheel movement is transmitted via a coupling linkage to the actual sensor component.
  • a return spring may be arranged on a sensor arm, which leads to a disappearance of the amplitude of Radeigenfrequenz in a defined position when a detaining of the sensor arm. Therefore, it is advantageous to take into account those natural frequencies, which may have the oscillatory system of this return spring with a mechanically defective sensor.
  • the spring constant of the return spring should be suitably dimensioned so that all possible natural frequencies are as far away from the Radeigenfrequenz.
  • the sensor arm can be moved by the return spring in impermissible positions that interfere with the level control. As a side effect, such impermissible positions of the sensor arm can also be detected by means of the frequency analysis.
  • the method according to the invention is also advantageously implementable in vehicles with novel level control systems, for example ultrasound-based sensor systems and plunger anchor systems which utilize the magnetostrictive effect (field strength-dependent dimensional change of magnetic materials) or systems with a linearly operating height sensor integrated in the suspension strut.
  • novel level control systems for example ultrasound-based sensor systems and plunger anchor systems which utilize the magnetostrictive effect (field strength-dependent dimensional change of magnetic materials) or systems with a linearly operating height sensor integrated in the suspension strut.
  • the transformed frequency spectra with Radeigenfrequenzen can basically also for detecting and plausibility testing other than mechanical sensor defects, for example, to determine erroneously measuring sensor elements or sensor heads of acceleration sensors, are used.
  • the method is provided primarily for chassis of motor vehicles, but in principle it is also applicable to rail vehicles, for example in the context of a Radsammlungschreibwachung or on chassis of aircraft during take-off, landing and / or taxiing phases.
  • FIG. 1 a schematic representation of a spring-mass oscillator of a chassis with a level control system for illustrating a method according to the invention for sensor defect detection.
  • An in Fig. 1 shown oscillatory system on a chassis of a motor vehicle comprises a wheel 1 with a rim 2, a tire 3 and a wheel carrier 4 as a mass model, and a strut 5 with a spring 6 and a damper 7 as a spring model according to the equation of motion of a damped spring mass oscillator.
  • the strut 5 is connected to a vehicle body 12.
  • This system has characteristic natural oscillations, which occur in a vibration excitation in the usual driving operation of the vehicle.
  • the damped vibration behavior of the gas-filled tire 3 is symbolically indicated by a spring element and a damping element.
  • a level control system 8 is present, whose sensor has a coupling rod 9 connected to the wheel carrier 4, which transmits vertical wheel movements relative to the vehicle body 12 to a height sensor 10 arranged on the vehicle body 12.
  • the height sensor 10 measures the vertical distance between the wheel 1 or wheel carrier 4 as a reference point and a reference point of the vehicle body 12 for level control in a manner not further explained here but known.
  • the height sensor 10 provides an output signal containing the amplitudes of the natural frequencies of the driving-oscillating system. This output signal can be tapped by electronic means 11 for further processing.
  • the electronic means 11 comprise a computer with suitable signal interfaces, a computing power sufficient for a fast Fourier transformation and volatile as well as permanent data memories.
  • the computer has a speed signal of the current driving speed available.
  • the sensor output signal applied to the height sensor 10 is first read into a computer 11 and stored within a suitable time window or time period.
  • the stored time signal is transformed in the computer 11 in a fast Fourier transformation into a frequency spectrum in which the amplitudes of individual spectral lines can be recognized.
  • the frequency spectrum contains the natural frequency of the wheel 1 excited by the vibration excitation of the road bumps as a pronounced spectral line with a frequency between 10 Hz and 25 Hz. If this predetermined spectral component disappears during a permanent monitoring from said frequency spectrum, so it is concluded that there is a mechanical defect.
  • the transformed signal is expediently subjected to further tests in implemented algorithms, in addition to the simple check for the presence of a natural frequency amplitude.
  • limit comparisons are performed with previously determined speed-dependent Radeigenfrequenz reference values with respect to the eigenfrequencies correlated amplitudes, frequency shifts and cumulative spectral densities. If necessary, adjustments to the signal time window are made.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Vehicle Body Suspensions (AREA)
  • Regulating Braking Force (AREA)
EP09151491.9A 2008-02-20 2009-01-28 Procédé et dispositif destinés à la surveillance de systèmes de réglage de châssis Not-in-force EP2101156B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200810010113 DE102008010113A1 (de) 2008-02-20 2008-02-20 Verfahren und Vorrichtung zum Überwachen von Fahrwerkregelsystemen

Publications (3)

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EP2101156A2 true EP2101156A2 (fr) 2009-09-16
EP2101156A3 EP2101156A3 (fr) 2013-07-17
EP2101156B1 EP2101156B1 (fr) 2015-10-14

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EP (1) EP2101156B1 (fr)
DE (1) DE102008010113A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014090871A1 (fr) * 2012-12-14 2014-06-19 Continental Teves Ag & Co. Ohg Procédé de vérification du montage correct et/ou du bon fonctionnement d'un capteur de hauteur associé à un système de suspension pneumatique d'un véhicule
WO2022160855A1 (fr) * 2021-01-28 2022-08-04 中车长春轨道客车股份有限公司 Appareil de levage/abaissement et de positionnement de traverse de contre-force pour banc d'essai
CN115459633A (zh) * 2022-09-22 2022-12-09 珠海格力电器股份有限公司 磁悬浮设备的控制方法、装置、电子设备及存储介质

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009041823A1 (de) * 2009-09-18 2011-03-24 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Verfahren und Vorrichtung zur Überwachung des Fahrverhaltens eines Schienenfahrzeugs
CN103043069B (zh) * 2011-10-16 2015-02-18 同济大学 一种用于车载式轮轴轮廓及直径测量系统的固定装置
DE102013002342A1 (de) 2013-02-09 2014-08-14 Volkswagen Aktiengesellschaft Anordnung und Verfahren zur Ermittlung des Höhenniveaus des Fahrzeugaufbaus eines Kraftfahrzeugs sowie Lenker oder Träger und Kraftfahrzeug dazu
CN105352746B (zh) * 2015-12-16 2018-11-30 上汽通用五菱汽车股份有限公司 一种汽车悬置断裂失效试验固件、系统及方法
DE102019219526B4 (de) * 2019-12-13 2021-07-22 Volkswagen Aktiengesellschaft Verfahren, Computerprogramm und Vorrichtung zum Bereitstellen einer Masse eines Rades eines Kraftfahrzeugs
DE102020215163B4 (de) 2020-12-01 2022-09-08 Volkswagen Aktiengesellschaft Verfahren zum Überwachen der Funktionsfähigkeit eines Stoßdämpfers eines Kraftfahrzeugs
JP7549154B2 (ja) * 2021-09-29 2024-09-10 株式会社Subaru 力センサの診断装置及び車両並びにコンピュータプログラムを記録した記録媒体

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04135913A (ja) 1990-09-28 1992-05-11 Mazda Motor Corp 車両のサスペンション装置
DE19928865C1 (de) 1999-06-24 2001-01-25 Continental Ag Verfahren zur Bestimmung des Abstandes zweier zwischen einer unteren und einer oberen Abstandsgrenze zueinander beweglicher Bezugspunkte
EP1281950A2 (fr) 2001-07-06 2003-02-05 TRW Inc. Système d'avertissement et de surveillance de pneu et de suspension
DE10020521B4 (de) 2000-04-19 2004-01-29 Db Reise & Touristik Ag Verfahren und Vorrichtung zum Überwachen des Fahrverhaltens von Schienenfahrzeugen

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4126731C2 (de) * 1991-08-13 2001-03-01 Continental Teves Ag & Co Ohg Fahrwerksregelungssystem für Kraftfahrzeuge
US5774379A (en) * 1995-07-21 1998-06-30 The University Of Chicago System for monitoring an industrial or biological process
US6240372B1 (en) * 1997-11-14 2001-05-29 Arch Development Corporation System for surveillance of spectral signals
JP5222457B2 (ja) * 2005-09-26 2013-06-26 株式会社日立製作所 センサおよびセンサモジュール

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04135913A (ja) 1990-09-28 1992-05-11 Mazda Motor Corp 車両のサスペンション装置
DE19928865C1 (de) 1999-06-24 2001-01-25 Continental Ag Verfahren zur Bestimmung des Abstandes zweier zwischen einer unteren und einer oberen Abstandsgrenze zueinander beweglicher Bezugspunkte
DE10020521B4 (de) 2000-04-19 2004-01-29 Db Reise & Touristik Ag Verfahren und Vorrichtung zum Überwachen des Fahrverhaltens von Schienenfahrzeugen
EP1281950A2 (fr) 2001-07-06 2003-02-05 TRW Inc. Système d'avertissement et de surveillance de pneu et de suspension

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014090871A1 (fr) * 2012-12-14 2014-06-19 Continental Teves Ag & Co. Ohg Procédé de vérification du montage correct et/ou du bon fonctionnement d'un capteur de hauteur associé à un système de suspension pneumatique d'un véhicule
WO2022160855A1 (fr) * 2021-01-28 2022-08-04 中车长春轨道客车股份有限公司 Appareil de levage/abaissement et de positionnement de traverse de contre-force pour banc d'essai
CN115459633A (zh) * 2022-09-22 2022-12-09 珠海格力电器股份有限公司 磁悬浮设备的控制方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
EP2101156B1 (fr) 2015-10-14
DE102008010113A1 (de) 2009-08-27
EP2101156A3 (fr) 2013-07-17

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